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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Jinjin Wang Binbin Qiu Deyang Zhang Yang Shi School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

ISBN: (纸本)9781509053643;9781509053636

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

关键词： Trajectory Vehicle dynamics Mathematical model Friction Electronic mail Heuristic algorithms

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Synchronization of two chaotic systems with three or two inputs via ZG method 34

Synchronization of two chaotic systems with three or two inp...

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34th Chinese control Conference, CCC 2015

作者： Yunong, Zhang Ming, Liu Long, Jin Yinyan, Zhang Hongzhou, Tan Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9789881563897

Recently, the synchronization of two chaotic systems is attracting more and more attentions because of its potential applications in communication security, aerospace industry and many other fields. In this paper, by combining Zhang dynamics (ZD) and gradient dynamics (GD), a novel effective controller-design method termed Zhang-gradient (ZG) method is firstly developed for the chaos synchronization problem with multiple inputs (i.e., three or two inputs). Via this ZG method, the traditional three-input chaos synchronization problem can be successfully solved with desirable convergence rate and satisfactory accuracy. In addition, by taking advantage of the coupling property of the chaotic system, a creative extension of the ZG method is investigated to solve the thorny two-input chaos synchronization problem. Simulation verifications further demonstrate that the controllers based on the ZG method can not only achieve satisfactory synchronization accuracy and exponential convergence rate on the three-input chaos synchronization problem but also successfully solve the chaos synchronization problem with only two inputs. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Chaos Synchronization Chen Chaotic System Lü Chaotic System ZG (Zhang-Gradient) Method

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Research on UAV simulation training system based on visual simulation 15

Research on UAV simulation training system based on visual s...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Ting, Wang Ting Bing, Bai Fang, Yuan Yi Wei, Zhu Yong Beijing Key Laboratory of UAV Autonomous Control School of Aerospace Engineering Beijing Institute of Technology Beijing China Beijing Aerospace Systems Engineering Institute Beijing China

ISBN: (纸本)9781538660720

For the existing UAV simulation training systems are out of equipment application reality with undesirability training effect, this paper presents a kind of UAV simulation training system based on visual simulation. The overall structure of the system including UAV ground control station, flight simulation subsystem, three-dimensional visual simulation, and training control subsystem is constructed by the visual simulation method, and a comprehensive regulation of training evaluation is proposed using Analytic Hierarchy Process (AHP), which is applied to evaluate the training performance. The UAV simulation training system provides a new technical approach for UAV training, also has certain application value. © 2018 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Discrete-Time control and Simulation of Ship Course Tracking Using ZD Method and ZFD Formula 4NgSFD 3

Discrete-Time Control and Simulation of Ship Course Tracking...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Huinan Xiao Jinjin Wang Jian Li Pei Chen School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

ISBN: (纸本)9781509053643;9781509053636

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

关键词： Marine vehicles Trajectory Electronic mail Process control Convergence Mathematical model

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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A PGSA Based Data Replica Selection Scheme for Accessing Cloud Storage System

A PGSA Based Data Replica Selection Scheme for Accessing Clo...

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10th Annual Conference of Advanced Computer Architecture, ACA 2014

作者： Zhang, Bang Wang, Xingwei Huang, Min College of Information Science and Engineering Northeastern University Shenyang 110819 China Key Laboratory of Network Control Systems Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9783662444900

The data replica management scheme is a critical component of cloud storage system. In order to enhance its scalability and reliability at the same time improve system response time, the multiple data replica scheme is adopted. When a cloud user issues an access request, a suitable replica should be selected to respond to it in order to shorten user access time and promote system load balance. In this paper, with network status, storage node load and historical information of replica selection considered comprehensively, a PGSA (Plant Growth Simulation Algorithm) based data replica selection scheme for cloud storage is proposed to improve average access time and replica utilization. The proposed scheme has been implemented based on CloudSim and performance evaluation has been done. Simulation results have shown that it is both feasible and effective with better performance than certain existent scheme. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Cloud storage

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Predefined time attitude control for quadrotor UAV with output constraints and input saturation

Predefined time attitude control for quadrotor UAV with outp...

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2024 China Automation Congress, CAC 2024

作者： Li, Shuo Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou510640 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9798350368604

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Active disturbance rejection-based sliding mode control for a surface vessel 34

Active disturbance rejection-based sliding mode control for ...

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34th Chinese control Conference, CCC 2015

作者： Wei, Yuli Sun, Tairen Liu, Guohai School of Electrical Information and Engineering Jiangsu University Zhenjiang China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China

ISBN: (纸本)9789881563897

Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Active disturbance rejection control Extended state observer Sliding mode control Surface vessel Trajectory tracking

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Improving the initialization speed for long-range NRTK in network solution mode

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Science China(Technological Sciences) 2020年第5期63卷 866-873页

作者： ZHANG Ming LÜJinHu BAI ZhengDong LIU Hui FAN ChengCheng Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute of Geomatics Tsinghua UniversityBeijing 100084China GNSS Research Center Wuhan UniversityWuhan 430079China Guangxi Zhuang Autonomous Region Remote Sensing Information Surveying and Mapping Institute Nanning 530023China

Initialization speed is one of the most important factors in network real time kinematic(NRTK)*** to the low correlation among the error sources of reference stations,it is difficult to fix reference station ambiguities of long-range NRTK *** traditional reference stations ambiguity resolution(AR)methods,baselines are usually solved independently which is called baseline solution(BS)mode in this *** the correlations among baselines are not taken into consideration in ambiguities estimation,the AR speed is ***,tens of minutes or longer time is required to *** propose a network solution(NS)mode approach,in which the correlations among the double-difference ambiguities(DDAs)as well as double-difference ionospheric delays(DDIDs)of different baselines are considered in estimating float ambiguity *** results show that the float ambiguity solutions obtained are more accurate with an improved ***,initialization speed is significantly increased by 18%in NS mode.

关键词： initialization speed network real time kinematic(NRTK) reference station ambiguity resolution(AR) network solution(NS)mode baseline solution(BS)mode

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Distributed robust matrix-scaled consensus control of perturbed multi-agent systems

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control Theory and Technology 2024年第4期22卷 623-637页

作者： Bin Cheng Gang Li Kun An Chunhui Yu Department of Control Science and Engineering Tongji UniversityShanghai201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210China The Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji UniversityShanghai201804China Shanghai Sunshine Rehabilitation Center Shanghai201613China

Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and *** paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown *** discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of *** protocols with time-varying gains obeying differential equations are also designed,which are completely distributed and rely on no global *** the boundary layer technique,smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous *** a cost,under the designed smooth protocols,the defined matrix-scaled consensus error tends to a residual set rather than zero,in which the residual bound is arbitrary small by choosing proper ***,distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous *** examples are provided to further verify the designed algorithms.

关键词： Matrix-scaled consensus Perturbed multi-agent systems Adaptive control Distributed control Event-triggered control

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